The couple are celebrating ten years of marriage. Copyright Kensington Palace. Image Will Warr.

Prince William and Kate Middleton have released a candid video to celebrate their anniversary, showing the devoted parents enjoying family time with their three kids.

The footage shows the family of five playing on sand dunes and roasting marshmallows on a campfire in Norfolk.

The Duke and Duchess of Cambridge posted the rare insight on their official Twitter page earlier today, thanking fans for their well wishes on their 10th wedding anniversary.

Image: REUTERS.

Image: REUTERS.

“We are enormously grateful for the 10 years of support we have received in our lives as a family,” the pair wrote.

“Thank you to everyone for the kind messages on our wedding anniversary,” William and Catherine – known as Kate – said in a statement signing off with their initials “W & C”.

William and Kate tied the knot on April 29 2011, in a ceremony at Westminster Abbey that was watched by two billion people across the world.

Image: REUTERS.

Touring Australia in 2014, the pair introduced baby George to Mosman on a visit to Taronga Zoo, where a bilby enclosure was named after the young prince.

Locals queued on Bradleys Head Rd for hours to catch a glimpse of the family and when they arrived, on the afternoon of April 20, it was the picture perfect moment the world had been waiting for.

Dressed in royal blue shorts and a striped, light blue shirt and blue shoes and socks, the little boy appeared to wriggle mischievously in Kate’s arms as the family strolled to the bilby enclosure.

Image: REUTERS.

At the enclosure, George met his namesake bilby and then helped his parents unveil a plaque, renaming the enclosure the Prince George Bilby Exhibit.

Senior animal keeper Paul Davies said at the time Prince George showed great interest in the native animals.

“Baby Prince George, he was amazing, just amazing, he was so good, he loved all the animals,” he said.

Image: REUTERS.

“We had a feathertail running on the glass and he tried to grab its tail and he was so interested.

“They were like any family coming into the zoo for a family day out.”

Image: REUTERS.